LW-1型机器人重复位姿精度检测系统  

LW 1 MEASUREMENT SYSTEM FOR ROBOT POSE REPEATABILITY

作　　者：董再励[1] 郝颖明[1] 徐心平[1] 王宏玉[1] 

机构地区：[1]中国科学院沈阳自动化研究所

出　　处：《机器人》1997年第5期327-332,337,共7页Robot

基　　金：国家高技术计划资助项目

摘　　要：本文介绍了一种非接触式（ＬＷ－１型）机器人重复位姿精度检测系统．该系统采用电涡流传感器作为位置信息传感器．以这种传感器的检测性能为基础，研究设计了相应的传感器测量结构、数学模型和坐标变换求解方法，使系统技术指标及使用性能达到了检测机器人重复位姿精度的实用要求．该系统具有鲁棒性强、设计合理、结构简单、造价低廉等特点。Pose repeatability of robot is very important for robotics research and development. In this paper, a non contact measurement system (LW 1) for the pose repeatability of robot is presented. Its sensor device consists of six eddy current sensors and a cubic target which can be mounted on the wrist of an industrial robot. A special mathematical method, the vector properties and screw theory are used to determine the transformation matrix between the sensor and target frame, and to enhance the robustness of the solution. As last, the structure of the sensor device is described and some test results are illustrated. The system(LW 1)is simple in structure and low in cost, and has given a measurement accuracy of≤±5μm in displacement and of≤±16″ in angles on a static test.

关 键 词：机器人 位姿精度 检测系统 传感器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]